Updated to publish Int32, lidar

ros2/src/robobin/launch/robobin_no_components_launch.py

@@ -16,8 +16,8 @@ def generate_launch_description():
 
         Node(
             package='robobin',
-            executable='motor_control_node',    
-            name='motor_control_node',
+            executable='control_feedback',    
+            name='control_feedback',
             output='screen',
             emulate_tty=True
         ),

ros2/src/robobin/robobin/api_node.py

@@ -10,6 +10,7 @@ from geometry_msgs.msg import Point
 from std_msgs.msg import String
 import rclpy
 from rclpy.node import Node
+from std_msgs.msg import Int32
 
 class ApiNode(Node):
     def __init__(self):
@@ -20,6 +21,7 @@ class ApiNode(Node):
             "cmd_vel": self.create_publisher(Twist, '/cmd_vel', 10),
             "nav_send": self.create_publisher(Twist, '/nav_send', 10), 
             "nav_command": self.create_publisher(String, '/nav_command', 10),
+            "nav_command_lidar": self.create_publisher(Int32, '/nav_command_lidar', 10)
         }
         self.location_subscriber = self.create_subscription(
             Point,  # Message type
@@ -130,6 +132,9 @@ class ApiNode(Node):
             elif topic == "nav_command" and isinstance(message, str):
                 self.get_logger().info(f"Published to {topic}: {message}")
                 publisher.publish(String(data=message))
+            elif topic == "nav_command_lidar" and isinstance(message, int):
+                self.get_logger().info(f"Published to {topic}: {message}")
+                publisher.publish(Int32(data=message))
             else:
                 self.get_logger().warning(f"Unhandled message type for topic: {topic}")
         else:

ros2/src/robobin/robobin/helpers/message_handler.py

@@ -26,7 +26,8 @@ class MessageHandler:
             print(response.decode())
         else:
             client_socket.sendall(response)
-        return "nav_command", message
+       
+        return "nav_command_lidar", int(message)
 
 
     def handle_request_location(self, client_socket, message):